CN111645088A - Electro-hydraulic hybrid drive double-head breaking and dismantling robot and breaking and dismantling method - Google Patents

Electro-hydraulic hybrid drive double-head breaking and dismantling robot and breaking and dismantling method Download PDF

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Publication number
CN111645088A
CN111645088A CN202010540708.1A CN202010540708A CN111645088A CN 111645088 A CN111645088 A CN 111645088A CN 202010540708 A CN202010540708 A CN 202010540708A CN 111645088 A CN111645088 A CN 111645088A
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China
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hydraulic cylinder
hydraulic
oil
travel switch
controller
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CN202010540708.1A
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CN111645088B (en
Inventor
张兴权
陈剑剑
王振伟
杨恒基
刘庆运
汪永明
高文斌
郑近德
潘海洋
叶小华
王刚
杨梅生
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Anhui University of Technology AHUT
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Anhui University of Technology AHUT
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • Furnace Housings, Linings, Walls, And Ceilings (AREA)

Abstract

The invention discloses an electro-hydraulic hybrid drive double-head breaking-in robot and a breaking-in method, and belongs to the technical field of special robots. The double-head breaking-in robot comprises a bearing reversing system, a breaking-in system and a control system; the double-head breaking-in robot is driven by adopting electro-hydraulic hybrid, the breaking-in system comprises a drill bit and a prying bar, transposition on the circumferential position of the section of a kiln body is completed through rotation of a hydraulic arm and a workbench, transposition in the axial direction of a rotary kiln is completed through linear motion of the double-head breaking-in robot, and finally intelligent efficient breaking-in of residual refractory bricks of the whole kiln body by the double-head breaking-in robot is realized through combined work of the drill bit and the prying bar. The double-head breaking-in robot has low noise and high working efficiency during working, and can effectively protect the kiln body of the rotary kiln.

Description

Electro-hydraulic hybrid drive double-head breaking and dismantling robot and breaking and dismantling method
The technical field is as follows:
the invention belongs to the technical field of special robots, and particularly relates to an electro-hydraulic hybrid drive double-head breaking-in robot and a breaking-in method. The electric-hydraulic hybrid driving device is mainly driven by electric-hydraulic hybrid, realizes the removal of broken objects by a drill bit and a pry bar, and is particularly suitable for removing residual refractory bricks of the rotary kiln.
Background art:
the rotary kiln has been widely used as a multipurpose rotary calcining kiln in the fields of building materials, metallurgy, chemical industry and the like. When the kiln body works, the internal temperature reaches thousands of degrees centigrade, and in order to prevent the high temperature from being transmitted to the kiln body to cause 'red kiln' to damage the kiln body, a layer of heat-insulating refractory brick kiln lining is usually built in the kiln body. Usually, when the rotary kiln works, the scour and wear of the calcined material are added, and the surface of the refractory brick kiln lining is continuously subjected to periodic thermal shock with the temperature change range of 150-250 ℃. Particularly for kiln bodies such as a cement rotary kiln, silicate melt can be generated in the working process, and the silicate melt can penetrate into the interior of the refractory bricks along the pores of the refractory bricks and easily interact with the surface layers of the refractory bricks to form a kiln coating so that the refractory bricks are bonded together. When the short flame and the rapid burning are formed to generate local high temperature, the lowest temperature of the surface of the kiln lining is higher than the solidification temperature of the liquid phase of the material, the surface layer of the kiln lining is changed into liquid state from solid state and falls off, and the surface layer of the kiln lining extends into a thin layer on the surface of a refractory brick from the outside to the inside and falls off together, and then a new kiln skin is formed. When this happens repeatedly, the refractory bricks in the kiln, in combination with mechanical and thermal stresses, become progressively thinner as the time of use increases. The interior firebrick of kiln reaches certain wearing and tearing volume and damages even, and the heat-proof quality greatly reduced of firebrick kiln lining can't effectively obstruct material high temperature and infringe to the kiln body, and the firebrick kiln lining reaches the service limit this moment, will clear away impaired firebrick kiln lining, then lay again. As the calcined silicate melt and the surface of the refractory brick can be bonded with partial chemical substances such as silicate, the refractory brick on the surface is bonded into a whole after cooling, and the hardness and the strength of the refractory brick are high, which brings great difficulty to subsequent manual demolition.
At present, the breaking and dismantling modes of the residual refractory bricks of the rotary kiln mainly comprise two modes: manual demolition and machine demolition. When the manual work is broken to tear open, because the air mobility is poor in the kiln, the dust is heavier when breaking open, seriously threatens people's health, and when breaking open in rotary kiln layer, the broken scaffold frame that need be taken to tear open, broken the inefficiency of tearing open moreover, the time that causes the maintenance of rotary kiln is longer, has increased the cost of maintenance of enterprise. According to statistics, at least 22000 super-large rotary kilns in various fields in China are in service at present. Calculated by the rotary cement kiln, the capacity of the large and medium rotary cement kiln is 0.3-0.8 ten thousand tons/day, and the one-day output value of one super-large rotary cement kiln is at least twenty-thirty-thousand yuan. From the perspective of economic efficiency of the enterprise, the higher the efficiency of replacing refractory bricks, the less loss of the enterprise. When the machine is broken and dismantled, the traditional method of dismantling the refractory bricks by using a striking hydraulic breaking hammer is usually adopted, the drill rod continuously strikes the refractory bricks, the noise is high when the machine is broken and dismantled, the breaking and dismantling depth of the drill rod is not easy to control and is not stopped until the drill rod strikes a kiln body, irreversible damage can be caused to the kiln body, and thermal fatigue cracks can be easily developed at the damage points under the action of alternating thermal stress, so that the kiln body is subjected to premature fatigue damage, and the economic benefit of an enterprise is greatly influenced.
The invention relates to a Chinese patent ' a robot and a method for breaking and dismantling residual refractory bricks of a rotary kiln ' (publication No. CN109780871) '. However, the rotary support of the key part of the robot bears the limitation of the manufacturing level, and at present, the manufacture of the rotary support with the diameter of more than 5 meters is difficult in China, so the breaking-in application range of the breaking-in robot is limited, the breaking-in robot is only suitable for the breaking-in of a small rotary kiln, and the breaking-in of the residual refractory bricks of a large rotary kiln is difficult to realize.
The invention content is as follows:
the invention aims to overcome the defects in the prior art, provides an electro-hydraulic hybrid drive double-head breaking robot and a breaking method, and is suitable for breaking residual refractory bricks of a rotary kiln. The invention provides an electro-hydraulic hybrid drive double-head breaking and dismantling robot which comprises a bearing reversing system, a breaking and dismantling system and a control system.
The bearing reversing system comprises a vehicle body 1, a cover plate 2, a retainer ring 3, a workbench 4, a first hydraulic arm 5, a second hydraulic arm 6, a first hydraulic cylinder 12a, a second hydraulic cylinder 12b, a third hydraulic cylinder 12c, an integration box 9, a slewing bearing 13, a reversing gear 39 and a reversing motor 40; the vehicle body 1 is fixedly connected with the cover plate 2 through a plurality of countersunk bolts, the reversing motor 40 is fixedly installed on the side wall of the cover plate 2 through bolts, an output shaft of the reversing motor 40 is in key connection with the reversing gear 39, and the reversing gear 39 is axially fixed through a step on the output shaft of the reversing motor 40 and a nut in threaded fit; the outer ring of the slewing bearing 13 and the cover plate 2 are fixedly installed through bolts, the inner ring of the slewing bearing 13 is fixedly connected with the workbench 4 through bolts, and the retainer ring 3 is installed on the side surface of the workbench 4 through a plurality of bolts; the workbench 4, the first hydraulic arm 5 and the second hydraulic arm 6 are connected in series, one end of the first hydraulic arm 5 is connected with the workbench 4 through a cylindrical pin, the other end of the first hydraulic arm 5 is connected with the second hydraulic arm 6 through a cylindrical pin, and the other end of the second hydraulic arm 6 is connected with the integration box 9 through a cylindrical pin; the first hydraulic cylinder 12a, the second hydraulic cylinder 12b and the third hydraulic cylinder 12c are all single-piston-rod hydraulic cylinders, one end of the first hydraulic cylinder 12a is mounted on the workbench 4 through a cylindrical pin, and the other end of the first hydraulic cylinder 12a is mounted on the first hydraulic arm 5 through a cylindrical pin; one end of the second hydraulic cylinder 12b is mounted on the first hydraulic arm 5 through a cylindrical pin, and the other end of the second hydraulic cylinder 12b is mounted on the second hydraulic arm 6 through a cylindrical pin; one end of the third hydraulic cylinder 12c is mounted on the second hydraulic arm 6 through a cylindrical pin, and the other end of the third hydraulic cylinder 12c is connected with the integration box 9 of the breaking and dismantling system through a cylindrical pin.
The breaking and dismantling system comprises a connecting rod 7, an I-shaped frame 8, a fourth hydraulic cylinder 16, a first bearing cover 17, a sixth hydraulic cylinder 18, a drill bit 19, a pry bar 20, a fifth hydraulic cylinder 21, a pressing ring 22, a bushing 23, a spring 24, a positioning pin 25, a deep groove ball bearing 26, a pinion 27, a piston 28a, a piston rod 28b, a cylindrical roller bearing 29, a turntable 30 and a feeding motor 31, a first stroke switch 32a, a second stroke switch 32b, a third stroke switch 32c, a fourth stroke switch 32d, a fifth stroke switch 32e, a sixth stroke switch 32f, a seventh stroke switch 32g, an eighth stroke switch 32h, a coupling 33, a second bearing cover 34, a main shaft 35, a first tapered roller bearing 36a, a second tapered roller bearing 36b, a fourth piston 37, a baffle plate 38, a seventh hydraulic cylinder 44, a first baffle 45a, a second baffle 45b, a first end cover 46a, and a second end cover 46 b; one end of the connecting rod 7 is connected with the second hydraulic arm 6 through a cylindrical pin, and the other end of the connecting rod 7 is connected with the I-shaped frame 8 and the third hydraulic cylinder 12c in series through cylindrical pins; the integration box 9 is connected with the second hydraulic arm 6 through a cylindrical pin, and the integration box 9 is connected with the I-shaped frame 8 through a cylindrical pin; the sixth hydraulic cylinder 18 is of a separate structure, and the sixth hydraulic cylinder 18 is provided with a first oil port A1And a second oil port A2The piston 28a is installed in the sixth hydraulic cylinder 18, the piston rod 28b is connected with the piston 28a, the fifth travel switch 32e and the sixth travel switch 32f are installed between one side of the piston rod 28b and the inner side of the integration box 9, the fifth travel switch 32e is located at the left end of the piston rod 28b, the sixth travel switch 32f is located at the right end of the piston rod 28b, the middle of the piston rod 28b is provided with a rack, and a sealing ring is installed between the piston 28a and the sixth hydraulic cylinder 18; the turntable 30 is installed in the integration box 9, a cylindrical roller bearing 29 and a deep groove ball bearing 26 are installed between the turntable 30 and the integration box 9, the pressing ring 22 fixes the turntable 30 through bolts, the rollers 41 are installed in V-shaped grooves formed in the turntable 30 and the pressing ring 22, a gap is reserved between the turntable 30 and the integration box 9, the extending end of the turntable 30 is connected with the pinion 27 through a flat key, and the pinion 27 is axially fixed through a nut matched with a thread through a step on the extending end of the turntable 30; the upper end of the positioning pin 25 penetrates through the spring 24 and then enters the integration box 9 through a round hole of a seventh hydraulic cylinder 44, and the seventh hydraulic cylinder 44 is provided with a third oil port B1And a fourth port B2The seventh travel switch 32g and the eighth travel switch 32h are installed between one side of the upper end of the positioning pin 25 and the cylinder body of the integration box 9, the seventh stroke switch 32g is located above the upper end of the positioning pin 25, the eighth stroke switch 32h is located below the upper end of the positioning pin 25, a sealing ring is arranged between the upper end of the positioning pin 25 and the round hole of the seventh hydraulic cylinder 44, the lower end of the positioning pin 25 is arranged in the seventh hydraulic cylinder 44, a sealing ring is arranged between the lower end of the positioning pin 25 and the integration box 9, the positioning pin 25 is in clearance fit with the bushing 23, the bushing 23 is installed in a hole of the rotating disc 30, the seventh hydraulic cylinder 44, the positioning pin 25, the spring 24, the bushing 23, the seventh travel switch 32g, and the eighth travel switch 32h are distributed symmetrically with respect to the center of the rotary table 30; the fourth hydraulic cylinder 16 is mounted on the turntable 30 by bolts, the first end cap 46a is mounted on the fourth hydraulic cylinder 16 by bolts, and the first end cap 46a and the fourth hydraulic cylinderA sealing washer is arranged between the hydraulic cylinders 16, and a fifth oil port C is arranged on the fourth hydraulic cylinder 161And a sixth port C2A fourth piston 37 is installed in the fourth hydraulic cylinder 16, a seal ring is installed between the fourth piston 37 and the fourth hydraulic cylinder 16, the feeding motor 31 is installed on the baffle 38, the first stroke switch 32a and the second stroke switch 32b are installed between the edge of the baffle 38 and the inner side of the fourth piston 37, the first stroke switch 32a is located below the baffle 38, the second stroke switch 32b is located above the baffle 38, the baffle 38 is fixedly installed on the fourth piston 37 through a bolt, the rotating shaft of the feeding motor 31 is connected with the main shaft 35 through the coupler 33, the first tapered roller bearing 36a is installed between the upper end of the main shaft 35 and the fourth piston 37, the second tapered roller bearing 36b is installed between the lower end of the main shaft 35 and the fourth piston 37, the first tapered roller bearing 36a is fixed by a shoulder of the main shaft 35 and the first bearing cover 17, the second tapered roller bearing 36b is fixed by a shoulder of the main shaft 35 and the second bearing cover 34, the first bearing cover 17 and the second bearing cover 34 are respectively fixed on the end surface of the fourth piston 37 by bolts, and the main shaft 35 is connected with the drill bit 19 by a morse taper shank; the fifth hydraulic cylinder 21 is fixed on the turntable 30 through a bolt, the second end cover 46b is installed on the fifth hydraulic cylinder 21 through a bolt, a sealing gasket is installed between the first end cover 46b and the fifth hydraulic cylinder 21, and the fifth hydraulic cylinder 21 is provided with the seventh oil port D1And an eighth oil port D2The utility model discloses a pry bar 20 is installed in the fifth pneumatic cylinder 21, first dog 45a with second dog 45b is installed respectively stick up the both ends of pole 20, one side of pry bar 20 upper end with install between the fifth pneumatic cylinder 21 third travel switch 32c and fourth travel switch 32d, third travel switch 32c is located the below of pry bar 20 upper end, fourth travel switch 32d is located the top of pry bar 20 upper end, pry bar 20 with install the sealing washer between the fifth pneumatic cylinder 21, in the fifth pneumatic cylinder 21 the axle of pry bar 20The line is symmetrical with the axis of the drill bit 19 in the fourth hydraulic cylinder 16 about the center of the rotary table 30.
The control system comprises a camera 10, a searchlight 11, a controller 14, a hydraulic station 15, a multifunctional manipulator 42 and a processor 43; the camera 10 is mounted on the workbench 4, the searchlight 11 is mounted on the vehicle body 1, the controller 14 and the processor 43 are mounted inside the vehicle body 1, and the hydraulic station 15 is mounted inside the vehicle body 1; the oil inlet cavities and the oil return cavities of the first hydraulic cylinder 12a, the second hydraulic cylinder 12b, the third hydraulic cylinder 12c, the fourth hydraulic cylinder 16, the fifth hydraulic cylinder 21, the sixth hydraulic cylinder 18 and the seventh hydraulic cylinder 44 are independently connected with the hydraulic station 15 through oil pipes, and the hydraulic station 15 controls the actions of the first hydraulic cylinder 12a, the second hydraulic cylinder 12b, the third hydraulic cylinder 12c, the fourth hydraulic cylinder 16, the fifth hydraulic cylinder 21, the sixth hydraulic cylinder 18 and the seventh hydraulic cylinder 44 by controlling the oil pressure of each oil pipe; the hydraulic station 15, the camera 10 and the searchlight 11 are connected with the controller 14 through leads, the camera 10 takes a picture of residual refractory bricks on the surface of the kiln body and transmits the picture to the processor 43, the processor 43 processes image information of broken refractory brick dismantling of the camera 10, determines next broken refractory brick dismantling work action information and transmits the next broken refractory brick dismantling work action information to the controller 14, the controller 14 sends a next action instruction, and the multifunctional controller 42 is in wireless connection with the controller 14.
The invention also provides a breaking method of the electro-hydraulic hybrid drive double-head breaking robot, which comprises the following specific steps:
(1) the double-head breaking-in robot enters a kiln body, the processor 43 processes the image information of the camera 10 and transmits the processed image information to the multifunctional controller 42 through the controller 14, and the multifunctional controller 42 controls the multifunctional controller 42 to send an automatic operation mode signal after confirming the basic condition of the robot;
(2) the controller 14 receives the instruction of the multifunctional controller 42 to automatically control the vehicle body 1 to drive the wheels to move to the specified working position, and after the vehicle body reaches the specified working position, the vehicle body 1 receives the instruction sent by the controller 14 to lock the wheels;
(3) the reversing motor 40 is electrified to drive the slewing bearing 13 meshed with the reversing motor to rotate after receiving the instruction of the controller 14, the workbench 4 arranged on the slewing bearing 13 is driven to rotate, and the reversing motor 40 is powered off and self-locked after receiving the instruction of the controller 14 after the workbench 4 rotates to a working position;
(4) the camera 10 takes pictures of the residual refractory bricks on the surface of the kiln body and transmits relevant image information to the processor 43, the processor 43 processes the relevant image information and sends instructions to the controller 14, the controller 14 controls the hydraulic station 15, the oil in the hydraulic station 15 respectively enters the rodless cavities of the first hydraulic cylinder 12a, the second hydraulic cylinder 12b and the third hydraulic cylinder 12c through oil pipes, the oil in the rod cavities of the first hydraulic cylinder 12a, the second hydraulic cylinder 12b and the third hydraulic cylinder 12c returns to the hydraulic station 15 through the oil pipes, the expansion and contraction of the piston rod in the first hydraulic cylinder 12a controls the rotation of the first hydraulic arm 5, the expansion and contraction of the piston rod in the second hydraulic cylinder 12b controls the rotation of the second hydraulic arm 6, the expansion and contraction of the piston rod in the third hydraulic cylinder 12c controls the rotation of the integration box 9 around the second hydraulic arm 6, after the integration box 9 is adjusted to a working position, a hydraulic lock in the hydraulic station 15 locks a hydraulic circuit to lock the first hydraulic arm 5, the second hydraulic arm 6 and the integration box 9; at the same time, the controller 14 issues a further action command to the feed motor 31;
(5) the feeding motor 31 is electrified to rotate, the feeding motor 31 drives the drill bit 19 connected with the main shaft 35 to rotate, and after the hydraulic station 15 receives an instruction sent by the controller 14, hydraulic oil flows to the fifth oil port C of the fourth hydraulic cylinder 16 through an oil pipe1The hydraulic oil in the fourth hydraulic cylinder 16 is supplied through a sixth oil port C2Returning oil to the hydraulic station 15, and driving the rotating drill 19 to drill the residual refractory bricks by the fourth piston 37 under the pushing of hydraulic oil; when the axial feed of the fourth piston 37 reaches a set depth, the first stroke is openedWhen the valve 32a is pressed, the hydraulic oil of the hydraulic station 15 is supplied to the sixth port C of the fourth hydraulic cylinder 16 through the oil pipe2Oil inlet, a fifth port C of the fourth hydraulic cylinder 161Returning oil to the hydraulic station 15, driving the drill bit 19 to withdraw from a drilled hole by the fourth piston 37 under the action of hydraulic oil, and when the withdrawal amount of the drill bit 19 reaches a preset value, pressing the second travel switch 32b, stopping the drill bit 19 and not withdrawing any more, and stopping the rotation of the feeding motor 31 when the power is off;
(6) when the second stroke switch 32B is pressed, the hydraulic station 15 supplies the fourth port B of the seventh hydraulic cylinder 44 with hydraulic fluid2Oil is supplied, and the hydraulic oil in the seventh hydraulic cylinder 44 passes through the third oil port B1Returning oil to the hydraulic station 15, wherein the positioning pin 25 exits the bushing 23 under the action of hydraulic oil, and the spring 24 is compressed under the action of hydraulic oil; after the upper end of the positioning pin 25 presses the seventh travel switch 32g, the hydraulic station 15 stops supplying the hydraulic fluid to the fourth fluid port B of the seventh hydraulic cylinder 442Oil supply;
(7) when the seventh stroke switch 32g is pressed, the hydraulic station 15 supplies the second port a of the sixth hydraulic cylinder 182Oil is supplied, and the hydraulic oil in the sixth hydraulic cylinder 18 passes through the first oil port A1The piston 28a moves to the left end under the action of hydraulic oil, the piston rod 28b moves to the left, the rack on the piston rod 28b drives the pinion 27 meshed with the piston rod 28b to rotate, and therefore the turntable 30 is driven to rotate 180 degrees clockwise, namely the positions of the fifth hydraulic cylinder 21 and the fourth hydraulic cylinder 16 which are installed on the turntable 30 are interchanged;
(8) after the piston rod 28b is moved to the left and the sixth travel switch 32f is pressed, the hydraulic station 15 stops to the second port a of the sixth hydraulic cylinder 182The hydraulic station 15 supplies oil to the third oil port B of the seventh hydraulic cylinder 44 through an oil pipe1Oil supply from the fourth port B of the seventh hydraulic cylinder 442Returning oil, the positioning pin 25 in the seventh hydraulic cylinder 44 is quickly inserted into the bushing 23 under the action of the oil pressure of the hydraulic oil, so that the turntable 30 is positioned;
(9) what is needed isAfter the positioning pin 25 is inserted into the bushing 23, the upper end of the positioning pin 25 presses down the eighth stroke switch 32h, so that the hydraulic station 15 stops supplying oil to the third port B of the seventh hydraulic cylinder 181The hydraulic station 15 supplies oil to the seventh oil port D of the fifth hydraulic cylinder 21 through an oil pipe1Taking oil, the hydraulic oil in the fifth hydraulic cylinder 21 passes through an eighth oil port D2Returning oil to the hydraulic station 15, inserting the pry bar 20 into a hole drilled in the refractory brick by the drill 19 before the pry bar 20 is inserted under the action of the oil pressure of the fifth hydraulic cylinder 21, and when the insertion depth of the pry bar 20 reaches a preset value, pressing the third travel switch 32c down by the upper end of the pry bar 20, so that the hydraulic station 15 stops feeding oil to the seventh oil port D of the fifth hydraulic cylinder 211Oil is supplied, the hydraulic station 15 supplies oil to a rodless cavity of the third hydraulic cylinder 12c, the integration box 9 rotates around a cylindrical pin at the joint of the second hydraulic arm 6 and the integration box 9 under the action of the push-pull force of the third hydraulic cylinder 12c, and the prying rod 20 prys the residual refractory bricks to enable a large number of residual refractory bricks to fall off from the kiln body;
(10) the camera 10 takes pictures of the residual firebricks on the surface of the kiln body and transmits related image information to the processor 43, and the processor 43 processes the information and sends instructions to the controller 14; the controller 14 controls the oil inlet amount and the oil inlet direction of the hydraulic station 15 to the first hydraulic cylinder 12a and the second hydraulic cylinder 12b, the extension and contraction of the piston rod are realized, the rotation of the first hydraulic arm 5 and the second hydraulic arm 6 is realized, the integration box 9 is adjusted to a new working position, and the controller 14 enables the hydraulic station 15 to supply oil to the eighth oil port D of the fifth hydraulic cylinder 212Taking oil, the fifth hydraulic cylinder 21 passes through a seventh oil port D1Returning oil to the hydraulic station 15, making the crowbar 20 move back under the action of hydraulic oil, and when the return stroke of the crowbar 20 reaches a preset value, pressing down the fourth stroke switch 32D by the upper end of the crowbar 20 to make the hydraulic station 15 stop applying to the eighth oil port D of the fifth hydraulic cylinder 212Supplying oil to stop the axial movement of the pry bar 20;
(11) repeating the above (5) - (6);
(12) when the seventh stroke switch 32g is pressed, the hydraulic station 15 supplies the first port a of the sixth hydraulic cylinder 181The hydraulic oil in the sixth hydraulic cylinder 18 passes through a second oil port A2Returning oil, wherein the piston rod 28b moves rightwards under the action of hydraulic oil, and the rack on the piston rod 28b drives the pinion 27 meshed with the piston rod 28b to rotate, so that the turntable 30 is driven to rotate 180 degrees anticlockwise, that is, the positions of the fourth hydraulic cylinder 16 and the fifth hydraulic cylinder 21 mounted on the turntable 30 are interchanged; when the piston rod 28b is moved rightward and the sixth stroke switch 32e is depressed, the hydraulic station 15 stops moving to the first port a of the sixth hydraulic cylinder 181The hydraulic station 15 supplies oil to the third oil port B of the seventh hydraulic cylinder 44 through an oil pipe1Oil supply from the fourth port B of the seventh hydraulic cylinder 442Returning oil, the positioning pin 25 in the seventh hydraulic cylinder 44 is quickly inserted into the bushing 23 under the action of the oil pressure of the hydraulic oil, so that the turntable 30 is positioned;
(13) repeating the steps (9) - (10);
(14) repeating the steps (3) - (13) until the robot finishes demolishing all residual refractory bricks within 360-degree range on the stop position;
(15) and (4) repeating the steps (2) to (14) until the robot finishes all the demolition work on the residual refractory bricks of the rotary kiln.
The invention utilizes the cooperative work among all systems to realize the demolition work of the residual refractory bricks of the rotary kiln, compared with the prior art, the invention has the following technical characteristics:
1. the double-head breaking-in robot can realize intelligent dismantling, a worker can control the robot by switching the manual control mode and the automatic control mode through a handheld multifunctional mode, the robot is far away from a high-dust dismantling field, the accident rate of production safety is effectively reduced, and the physical and psychological health of the worker is protected.
2. The rotary drill bit is adopted to drill the refractory brick, and the refractory brick is inserted into the hole through the prying rod to be removed.
3. According to the invention, by utilizing the characteristic that the surfaces of the refractory bricks are connected together in the calcining process of the rotary kiln, the drill bit is adopted to drill holes, then the crow bar is inserted into the drilled holes, and a large number of residual refractory bricks can fall off from the kiln body through the swinging of the integrated box, so that the breaking and dismantling efficiency is greatly improved.
4. The rotary drill is adopted to drill the refractory bricks, the prying rod extends into the hole to be dismantled, the travel switch is adopted to effectively control the drilling depth, damage of a dismantling tool to a kiln body is guaranteed, and the service life of the kiln body is greatly prolonged.
5. The travel switch device is used for multiple times, the circular reciprocation of the breaking-in action is realized, the auxiliary machining time is greatly shortened, the action is reliable, the fault of the machining action is avoided, and the safety accident is effectively reduced.
6. The rotary kiln firebrick breaking robot has the advantages that the whole rotary kiln firebrick breaking robot works through the electric drive hydraulic station and the motor, the light weight of the whole rotary kiln firebrick breaking robot can be realized, multiple hydraulic arms can be combined, the firebrick breaking robot can break the firebricks of rotary kilns with different diameters, and the hydraulic arms of the rotary kiln firebrick breaking robot are foldable when the rotary kiln firebrick breaking.
Description of the drawings:
FIG. 1 is a schematic structural diagram of an electrohydraulic hybrid drive double-head breaking and dismantling robot of the invention;
FIG. 2 is an enlarged view taken at point I in FIG. 1;
FIG. 3 is a schematic structural diagram of an electro-hydraulic hybrid drive double-head breaking and dismantling robot in a front view;
FIG. 4 is a schematic cross-sectional structural view of an electro-hydraulic hybrid drive double-head break-in robot of the present invention;
FIG. 5 is an enlarged view of the structure at II in FIG. 4;
FIG. 6 is an enlarged view of FIG. 4 at III;
FIG. 7 is a schematic cross-sectional view of a breaking-in system of the breaking-in robot of the present invention;
FIG. 8 is an enlarged view of the structure at IV in FIG. 7;
FIG. 9 is an enlarged view of the structure at V in FIG. 7;
FIG. 10 is an enlarged view of the structure at VI in FIG. 7;
fig. 11 is a schematic structural diagram of a multi-function manipulator in the demolition robot of the present invention.
In the figure: 1: a vehicle body; 2: a cover plate; 3: a retainer ring; 4: a work table; 5: a first hydraulic arm; 6: a second hydraulic arm; 7: a connecting rod; 8: an I-shaped frame; 9: an integration box; 10: a camera; 11: a searchlight; 12 a: a first hydraulic cylinder; 12 b: a second hydraulic cylinder; 12 c: a third hydraulic cylinder; 13: a slewing bearing; 14: a controller; 15: a hydraulic station; 16: a fourth hydraulic cylinder; 17: a first bearing cover; 18: a sixth hydraulic cylinder; 19: a drill bit; 20: a pry bar; 21: a fifth hydraulic cylinder; 22: pressing a ring; 23: a bushing; 24: a spring; 25: positioning pins; 26: a deep groove ball bearing; 27: a pinion gear; 28 a: a piston; 28 b: a piston rod; 29: a cylindrical roller bearing; 30: a turntable; 31: a feed motor; 32 a: a first travel switch; 32 b: a second travel switch; 32c, the ratio of: a third travel switch; 32 d: a fourth travel switch; 32e, and (3): a fifth travel switch; 32 f: a sixth travel switch; 32 g: a seventh travel switch; 32 h: an eighth travel switch; 33: a coupling; 34: a second bearing cover; 35: a main shaft; 36 a: a first tapered roller bearing; 36 b: a second tapered roller bearing; 37: a fourth piston; 38: a baffle plate; 39: a reversing gear; 40: a commutation motor; 41: a roller; 42: a multi-function manipulator; 43: a processor; 44: a seventh hydraulic cylinder; 45 a: a first stopper; 45 b: a second stopper; 46 a: a first end cap; 46 b: a second end cap; a. the1: a first oil port; a. the2: a second oil port; b is1: a third oil port; b is2: a fourth oil port; c1: a fifth oil port; c2: a sixth oil port; d1: a seventh oil port; d2: and an eighth oil port.
The specific implementation mode is as follows:
the invention provides an electro-hydraulic hybrid drive double-head breaking robot and a breaking method, which are suitable for breaking residual refractory bricks of a rotary kiln.
The bearing reversing system comprises a vehicle body 1, a cover plate 2, a retainer ring 3, a workbench 4, a first hydraulic arm 5, a second hydraulic arm 6, a first hydraulic cylinder 12a, a second hydraulic cylinder 12b, a third hydraulic cylinder 12c, an integration box 9, a slewing bearing 13, a reversing gear 39 and a reversing motor 40. The vehicle body 1 and the cover plate 2 are fixedly connected through a plurality of countersunk head bolts, the vehicle body 1 has the functions of moving and locking, the robot is moved to a designated working position and locked, the working position of the robot is changed in the axis direction of the rotary kiln, meanwhile, the broken and detached position is behind the moving direction of the vehicle body 1, the falling refractory bricks cannot block the motion of the vehicle body, and the broken and detached can be smoothly carried out. The reversing motor 40 is fixedly arranged on the side wall of the cover plate 2 through bolts, an output shaft of the reversing motor 40 is in key connection with the reversing gear 39, the front end of the output shaft of the reversing gear 40 is in a threaded structure, the reversing gear 39 is axially fixed through a step on the output shaft of the reversing motor 40 and a nut in threaded fit, namely the nut at the front end of the output shaft is abutted against one end of the reversing gear 39, and the rear end of the output shaft is a stepped shaft abutted against the other end of the reversing gear 39. The main function of the reversing motor 40 is to drive the workbench 4 connected with the slewing bearing 13 to rotate, so as to realize the replacement of the working position of the integration box 9 provided with the drill 19 and the pry bar 20 in the circumferential direction, the reversing motor 40 can be self-locked and stopped rotating when the power is off, so that the slewing bearing 13 meshed with the pinion 27 is stopped rotating, further the workbench 4 arranged on the slewing bearing 13 is also stopped rotating, and the robot adapts to a new working position. The mounting hole on the outer ring of the slewing bearing 13 and the mounting hole reserved on the cover plate 2 are fixedly mounted through bolts, the mounting hole on the inner ring of the slewing bearing 13 is fixedly connected with the mounting hole reserved on the workbench 4 through bolts, and the slewing bearing 13 belongs to a single-row four-point contact ball type slewing bearing and is mainly used for bearing the functions of the tilting moment, the vertical axial force and the horizontal inclination force of the workbench 4. The check ring 3 is arranged on the side surface of the workbench 4 through a plurality of bolts, and the check ring 3 is mainly used for preventing broken stones from entering between the workbench 4 and the cover plate 2 in the working process, so that the broken stones and other sundries are prevented from obstructing the circumferential rotary motion of the workbench 4. The workbench 4, the first hydraulic arm 5 and the second hydraulic arm 6 are connected in series, one end of the first hydraulic arm 5 is connected with the workbench 4 through a cylindrical pin, the other end of the first hydraulic arm 5 is connected with the second hydraulic arm 6 through a cylindrical pin, the other end of the second hydraulic arm 6 is connected with the integration box 9 through a cylindrical pin, and the first hydraulic arm 5 and the second hydraulic arm 6 are both hollow box type welding pieces. The first hydraulic cylinder 12a, the second hydraulic cylinder 12b and the third hydraulic cylinder 12c are all single-piston-rod hydraulic cylinders, rod-free cavities of the first hydraulic cylinder, the second hydraulic cylinder and the third hydraulic cylinder are respectively and independently connected with the hydraulic station 14 through oil pipes connected with pipe joints, and rod cavities of the first hydraulic cylinder, the second hydraulic cylinder and the third hydraulic cylinder return oil to the hydraulic station (14) through the oil pipes connected with the pipe joints, so that the phenomenon that the action of a hydraulic arm is influenced due to the trapped oil in the rod cavities is avoided. One end of a first hydraulic cylinder 12a is arranged on the workbench 4 through a cylindrical pin, and the other end of the first hydraulic cylinder 12a is arranged on a first hydraulic arm 5 through the cylindrical pin; second pneumatic cylinder 12b one end is installed on first hydraulic arm 5 through the cylindric lock, the second pneumatic cylinder 12b other end is installed on second hydraulic arm 6 through the cylindric lock, the main function of second pneumatic cylinder 12b is for second hydraulic arm 6 provides power support around the rotation of first hydraulic arm 5, the one end of third pneumatic cylinder 12c is installed on second hydraulic arm 6 through the cylindric lock, the other end of third pneumatic cylinder 12c is installed on broken integration box 9 of tearing open the system through the cylindric lock, the main function of third pneumatic cylinder 12c is for broken integration box 9 of tearing open the system of tearing open to rotate around second hydraulic arm 6 and provide power support.
The breaking and dismantling system comprises: a connecting rod 7, an I-shaped frame 8, a fourth hydraulic cylinder 16, a first bearing cover 17, a sixth hydraulic cylinder 18, a drill 19, a pry bar 20, a fifth hydraulic cylinder 21, a pressing ring 22, a bushing 23, a spring 24, a positioning pin 25, a deep groove ball bearing 26, a pinion 27, a piston 28a, a piston rod 28b, a cylindrical roller bearing 29, a turntable 30 and a feeding motor 31, a first stroke switch 32a, a second stroke switch 32b, a third stroke switch 32c, a fourth stroke switch 32d, a fifth stroke switch 32e, a sixth stroke switch 32f, a seventh stroke switch 32g, an eighth stroke switch 32h, a coupling 33, a second bearing cover 34, a main shaft 35, a first tapered roller bearing 36a, a second tapered roller bearing 36b, a fourth piston 37, a stopper 38, a seventh hydraulic cylinder 44, a first stopper 45a, a second stopper 45b, a first end cover 46a, and a second end cover 46 b. One end of the connecting rod 7 is connected with the second end through a cylindrical pinThe hydraulic arm 6 is connected, the other end of the connecting rod 7 is connected with the I-shaped frame 8 and the third hydraulic cylinder 12c in series through cylindrical pins, the integration box 9 is connected with the second hydraulic arm 6 through the cylindrical pins, and the integration box 9 is connected with the I-shaped frame 8 through the cylindrical pins. The sixth hydraulic cylinder 18 is of a separate structure, and the sixth hydraulic cylinder 18 is provided with a first oil port A1And a second oil port A2The piston 28a is arranged in the sixth hydraulic cylinder 18, and the sixth hydraulic cylinder 18 and the piston 28a have high coaxiality, so that good movement performance of the piston is guaranteed. The piston rod 28b is connected with the piston 28a, the middle part of the piston rod 28b is milled to be a plane and processed to be a rack, the rack part of the piston rod 28b is meshed with the pinion 27, and the module and the pressure angle of the rack are the same as those of the pinion 27. A fifth travel switch 32e and a sixth travel switch 32f are installed between one side of the piston rod 28B and the inner side of the integration box 9, the fifth travel switch 32e is located at the left end of the piston rod 28B, the sixth travel switch 32f is located at the right end of the piston rod 28B, after the fifth travel switch 32e and the sixth travel switch 32f are pressed down, the electrified electrodes of a plurality of electromagnetic reversing valves in the hydraulic station 15 are changed, the positions of valve ports of the reversing valves are changed, the hydraulic station 15 stops supplying oil to the sixth hydraulic cylinder 18, and meanwhile, the hydraulic station 15 supplies oil to the third oil port B of the seventh hydraulic cylinder 441And oil is supplied to realize the transposition and the positioning of the drill 19 and the pry bar 20 on the rotary disc 30. A seal ring is installed between the piston 28a and the sixth hydraulic cylinder 18, and the seal ring mainly prevents the hydraulic oil from leaking from the high-pressure end to the low-pressure end. The rotary table 30 is installed in the integration box 9, the rotary table 30 can rotate 180 degrees clockwise and anticlockwise around the center, the function of replacing the working positions of the drill bit 19 and the pry bar 20 is achieved, the cylindrical roller bearing 29 and the deep groove ball bearing 26 are installed between the rotary table 30 and the integration box 9, the cylindrical roller bearing 29 and the deep groove ball bearing 26 are both annular bearings, the cylindrical roller bearing 29 and the deep groove ball bearing 26 achieve axial positioning through the integration box 9 and the rotary table 30, the cylindrical roller bearing 29 mainly bears axial force brought by the rotary table 30, and the deep groove ball bearing 26 mainly bears radial force brought by the rotary table 30. The pressing ring 22 fixes the turntable 30 through bolts, the rollers 41 are installed in the V-shaped grooves formed in the turntable 30 and the pressing ring 22 at equal intervals, an included angle of 5 degrees is kept between the rollers, namely 72 rollers are installed in the V-shaped grooves, and the rollers 41 are mainly installed in the V-shaped groovesThe function is to support the rotating disc 30 and reduce the friction resistance of the rotating disc 30 during transposition rotation. A gap is reserved between the rotary table 30 and the integration box 9, the extending end of the rotary table 30 is connected with the pinion 27 through a flat key, the pinion 27 is axially fixed with a nut matched with threads through a step on the extending end of the rotary table 30, the power for rotating the rotary table 30 is from the hydraulic oil pressure of the sixth hydraulic cylinder 18, the piston 28a moves to drive the piston rod 28b to move, so that the pinion 27 meshed with the piston rod is driven to rotate, and the position change of the prying rod 20 and the drill 19 on the rotary table 30 is realized. The upper end of the positioning pin 25 penetrates through the spring 24 and then enters the integration box 9 through the round hole of the seventh hydraulic cylinder 44, a seventh travel switch 32g and an eighth travel switch 32h are installed between one side of the upper end of the positioning pin 25 and the cylinder body of the integration box 9, the seventh travel switch 32g is located above the upper end of the positioning pin 25, the eighth travel switch 32h is located below the upper end of the positioning pin 25, a sealing ring is installed between the upper end of the positioning pin 25 and the round hole of the seventh hydraulic cylinder 44, the lower end of the positioning pin 25 is installed in the seventh hydraulic cylinder 44, the sealing ring is installed between the lower end of the positioning pin 25 and the integration box 9, the sealing ring mainly has the function of preventing hydraulic oil in the seventh hydraulic cylinder 44 from leaking from the high-pressure end to the low-pressure end, the1And a fourth port B2. The seventh travel switch 32g ensures that the positioning pin 25 is completely withdrawn from the bushing 23, the eighth travel switch 32h ensures that the positioning pin 25 is completely inserted into the bushing 23, so that the integration box 9 has better rigidity, the positioning pin 25 and the piston part thereof are processed into a whole, the upper end is a pulling rod of the travel switch, the middle end is the piston part, and the lower end is the pin body part. The positioning pin 25 is in clearance fit with the bushing 23, the bushing 23 is installed in the hole of the turntable 30, and the bushing 23 is made of wear-resistant materials, so that the service life of the bushing is prolonged. The main function of the pilot pin 25 is to provide a third port B of the seventh hydraulic cylinder 441The fourth port B2And when oil is returned, the positioning pin 25 is inserted into the bushing 23 to realize locking of the rotary table 30. When the third hydraulic port B of the seventh hydraulic cylinder1Oil return and fourth oil port B2On entering the oil, the spring 24 is compressed and the pin 25 exits the bushing 23. Seventh hydraulic cylinder 44, positioning pin 25, spring 24, bushing 23, seventh travel switch 32g, and eighth travel switch 32h offAre distributed symmetrically at the center of the rotating disc 30. The fourth hydraulic cylinder 16 is mounted on the turntable 30 through a bolt, the first end cover 46a is mounted on the fourth hydraulic cylinder 16 through a bolt, a sealing gasket is mounted between the first end cover 46a and the fourth hydraulic cylinder 16, and the fourth hydraulic cylinder is provided with a fifth oil port C1And a sixth port C2Fourth piston 37 is installed in fourth hydraulic cylinder 16, fourth piston 37 can move in fourth hydraulic cylinder 16, and a sealing ring is installed between fourth hydraulic cylinder 16 and fourth piston 37, and fourth piston 37 can be effectively prevented from leaking inwards. Feed motor 31 is mounted on a stop plate 38, and a raised portion of stop plate 38 prevents fourth piston 37 from sliding off fourth cylinder 16 when not in use. The first travel switch 32a and the second travel switch 32b are arranged between the edge of the baffle plate 38 and the inner side of the fourth piston 37, the first travel switch 32a is positioned below the baffle plate 38, the second travel switch 32b is positioned above the baffle plate 38, and the first travel switch 32a and the second travel switch 32b are matched to effectively control the feeding amount of the drill 19 and timely withdraw, so that the feeding amount of the drill 19 is smaller than the thickness of the residual refractory bricks, and the kiln body is prevented from being damaged by the drill 19 in the drilling process. The baffle 38 is fixedly installed on the fourth piston 37 through a bolt, the rotating shaft of the feeding motor 31 is connected with the main shaft 35 through a coupling 33, a first tapered roller bearing 36a is installed between the upper end of the main shaft 35 and the fourth piston 37, a second tapered roller bearing 36b is installed between the lower end of the main shaft 35 and the fourth piston 37, the first tapered roller bearing 36a is fixed with the first bearing cover 17 through a shaft shoulder of the main shaft 35, the second tapered roller bearing 36b is fixed with the second bearing cover 34 through a shaft shoulder of the main shaft 35, the first tapered roller bearing 36a and the second tapered roller bearing 36b can bear the axial force and the radial force when the main shaft rotates, the convex part of the first bearing cover 17 can prevent the fourth piston 37 from falling into the fourth hydraulic cylinder 16 and can fix the second tapered roller bearing 36b, the main shaft 35 is connected with the drill 19 through a morse taper shank, the fifth hydraulic cylinder 21 is fixed on the turntable 30 through a bolt, the second end cover 46b is mounted on the fifth hydraulic cylinder 21 through a bolt, a sealing washer is mounted between the second end cover 46b and the fifth hydraulic cylinder 21, and the fifth hydraulic cylinder 21 is provided with a seventh oil port D1And an eighth oil port D2The crowbar 20 is installed at the fifth hydraulic pressureIn the cylinder 21, the pry bar 20 is an integrated part, the diameter of the front end of the pry bar is smaller than that of the drill, the coaxiality requirement of the pry bar 20 and the fifth hydraulic cylinder 21 is higher, and the pry bar 20 can be guaranteed to have a good movement effect in the fifth hydraulic cylinder 21. The first stopper 45a and the second stopper 45b are respectively installed at two ends of the tilting rod 20, the first stopper 45a mainly functions to prevent the pry bar 20 from falling into the fifth hydraulic cylinder 21 when the robot does not work, and the second stopper 45b mainly functions to prevent the pry bar 20 from falling when the robot does not work. A third travel switch 32c and a fourth travel switch 32d are arranged between the pry bar 20 and the fifth hydraulic cylinder 21, the third travel switch 32c is positioned below the upper end of the pry bar 20, the fourth travel switch 32d is positioned above the upper end of the pry bar 20, and the third travel switch 32c and the fourth travel switch 32d are jointly used to ensure the fluency of the breaking and dismantling action. A sealing ring is arranged between the pry bar 20 and the fifth hydraulic cylinder 21, the sealing ring has the main function of preventing hydraulic oil in the fifth hydraulic cylinder 21 from leaking from the high-pressure end to the low-pressure end, and the front end of the pry bar 20 is quenched, so that the pry bar is high in hardness and wear-resistant. The axial line of the pry bar 20 in the fifth hydraulic cylinder 21 and the axial line of the drill 19 in the fourth hydraulic cylinder 16 are symmetrical about the center of the rotary table 30, so that the pry bar 20 can be smoothly inserted into a hole previously drilled in the refractory brick by the drill 19 after the position of the pry bar 20 and the drill 19 is changed, the pry bar 20 is driven by the hydraulic pressure of hydraulic oil to swing, the refractory bricks with the surfaces sintered together fall off from the kiln body in a large area, and the breaking and dismantling efficiency is greatly improved.
The control system comprises a camera 10, a searchlight 11, a controller 14, a hydraulic station 15, a multifunctional manipulator 42 and a processor 43; the camera 10 is installed on the workstation 4 that bears the switching-over system, the searchlight 11 is installed on automobile body 1, the main effect of searchlight is luminance in the reinforcing kiln, ensure the definition of the picture of taking of camera 10, controller 14 and treater 43 are installed in the inside of automobile body 1, hydraulic pressure station 15 is installed in the inside of automobile body 1, hydraulic pressure station 15 mainly comprises oil storage tank, oil pump and multiunit electromagnetic reversing valve, can be independent to the different pneumatic cylinders fuel feeding and can change the fuel feeding direction. The first hydraulic cylinder 12a, the second hydraulic cylinder 12b, the third hydraulic cylinder 12c, the fourth hydraulic cylinder 16, the fifth hydraulic cylinder 21, the sixth hydraulic cylinder 18 and the seventh hydraulic cylinder 44 are independently connected with an oil inlet cavity and an oil return cavity of the hydraulic station 15 through oil pipes connected with pipe joints, and the hydraulic station 15 controls the first hydraulic cylinder 12a, the second hydraulic cylinder 12b, the third hydraulic cylinder 12c, the fourth hydraulic cylinder 16, the fifth hydraulic cylinder 21, the sixth hydraulic cylinder 18 and the seventh hydraulic cylinder 44 to act by controlling the oil pressure of each oil pipe. The hydraulic station 15, the camera 10 and the searchlight 11 are connected with the controller 14 through wires, the multifunctional controller 42 is wirelessly connected with the controller 14, a display on the multifunctional controller can display the actual situation of a demolition site, when a problem occurs in the site, the automatic working mode can be switched to the manual control mode by operating the multifunctional controller 42, and the robot is controlled through buttons of the automatic working mode. The camera 10 can rotate 360 degrees with the workbench 4 bearing the reversing system, then image information is transmitted to the processor 43 for processing, the processor 43 judges the specific position of an undetached area by comparing the surface flatness of the rotary kiln refractory bricks before and after demolition, then the action executed in the next step is transmitted to the controller 14, the controller 14 transmits the image information to the multifunctional controller 42 and simultaneously sends a next step action instruction to the hydraulic station 15, the internal working condition can be monitored manually through the video information of the multifunctional controller 42, and meanwhile, the multifunctional controller 42 can cut off the automatic control system of the robot to be converted into manual control.
The invention combines the advantages of hydraulic drive and motor drive, so that the breaking-in robot has a simple structure, meets the requirement of cleaning residual refractory bricks of the rotary kiln, and can realize the function of intelligent cleaning. The specific working process of the breaking-in robot will be described below with reference to the accompanying drawings, which are as follows:
(1) the double-head breaking robot enters the kiln body, the processor 43 processes the image information of the camera 10 and transmits the processed image information to the multifunctional controller 42 through the controller 14, and the multifunctional controller 42 controls the multifunctional controller 42 to send an automatic operation mode signal after confirming the basic situation of the robot.
(2) The controller 14 receives the instruction of the multifunctional controller 42 to automatically control the vehicle body 1 to drive the wheels to move to the specified working position, and after the vehicle body reaches the specified working position, the vehicle body 1 receives the instruction sent by the controller 14 to lock the wheels.
(3) The reversing motor 40 is electrified to drive the rotation of the slewing bearing 13 meshed with the reversing motor after receiving the instruction of the controller 14, the workbench 4 arranged on the slewing bearing 13 is driven to rotate, and the reversing motor 40 is powered off and self-locked after receiving the instruction of the controller 14 after the workbench 4 rotates to the working position.
(4) The camera 10 shoots the residual refractory bricks on the surface of the kiln body, relevant image information is transmitted and supplied to the processor 43, the processor 43 processes the relevant image information and sends an instruction to the controller 14, the controller 14 controls the hydraulic station 15, oil in the hydraulic station 15 respectively enters rodless cavities of the first hydraulic cylinder 12a, the second hydraulic cylinder 12b and the third hydraulic cylinder 12c through oil pipes, the oil in rod cavities of the first hydraulic cylinder 12a, the second hydraulic cylinder 12b and the third hydraulic cylinder 12c returns to the hydraulic station 15 through the oil pipes, the expansion and contraction of a piston rod in the first hydraulic cylinder 12a controls the rotation of the first hydraulic arm 5, the expansion and contraction of a piston rod in the second hydraulic cylinder 12b controls the rotation of the second hydraulic arm 6, the expansion and contraction of a piston rod in the third hydraulic cylinder 12c controls the rotation of the integration box 9 around the second hydraulic arm 6, and after the integration box 9 is adjusted to a working position, a hydraulic lock locking hydraulic circuit in the hydraulic station 15 realizes locking of the first hydraulic arm 5, the second hydraulic arm 6 and the integration box 9; at the same time, the controller 14 issues a further action command to the feed motor 31.
(5) The feeding motor 31 is electrified to rotate, the feeding motor 31 drives the drill 19 connected with the main shaft 35 to rotate, and the hydraulic oil after the hydraulic station 15 receives the instruction sent by the controller 14 is sent to the fifth oil port C of the fourth hydraulic cylinder 16 through the oil pipe1The hydraulic oil in the fourth hydraulic cylinder 16 is supplied through the sixth oil port C2Returning oil to the hydraulic station 15, and driving the rotating drill 19 to drill the residual refractory bricks by the fourth piston 37 under the push of the hydraulic oil; when the axial feed amount of the fourth piston 37 reaches the set depth, the first stroke switch 32a is pressed down, and the hydraulic oil of the hydraulic station 15 is supplied to the sixth port C of the fourth hydraulic cylinder 16 through the oil pipe2Oil-in, fifth port C of fourth hydraulic cylinder 161Returning oil to the hydraulic station 15, and driving the drill bit 19 to withdraw from the drilled hole by the fourth piston 37 under the action of hydraulic oil, wherein the withdrawal amount of the drill bit 19 reaches the preset valueWhen the value is set, the second travel switch 32b is pressed, the drill 19 stops and does not retract, and the feeding motor 31 is powered off and stops rotating.
(6) When the second stroke switch 32B is pressed, the hydraulic station 15 supplies the fourth port B of the seventh hydraulic cylinder 442The hydraulic oil in the seventh hydraulic cylinder 44 is supplied through the third oil port B1Returning oil to the hydraulic station 15, withdrawing the positioning pin 25 from the bushing 23 under the action of hydraulic oil, and compressing the spring 24 under the action of hydraulic oil; when the seventh position switch 32g is pressed by the upper end of the positioning pin 25, the hydraulic station 15 stops supplying the oil to the seventh hydraulic cylinder 44.
(7) When the seventh stroke switch 32g is pressed, the hydraulic station 15 supplies the second port a of the sixth hydraulic cylinder 182The oil is supplied, and the hydraulic oil in the sixth hydraulic cylinder 18 passes through the first oil port A1And returning oil, the piston 28a moves towards the left end under the action of hydraulic oil, the piston rod 28b moves towards the left, the rack on the piston rod 28b drives the pinion 27 meshed with the piston rod to rotate, and therefore the rotary table 30 is driven to rotate 180 degrees clockwise, and the position exchange of the fifth hydraulic cylinder 21 and the fourth hydraulic cylinder 16 which are installed on the rotary table 30 is realized.
(8) When the piston rod 28b is moved to the left and the sixth stroke switch 32f is depressed, the hydraulic station 15 stops moving to the second port a of the sixth hydraulic cylinder 182For oil supply, the hydraulic station 15 feeds the third port B of the seventh hydraulic cylinder 44 through an oil pipe1Fourth port B of seventh hydraulic cylinder 44 for oil supply2And returning oil, wherein the positioning pin 25 in the seventh hydraulic cylinder 44 is inserted into the bushing 23 under the oil pressure of the hydraulic oil, so that the turntable 30 is positioned.
(9) After the positioning pin 25 is inserted into the bushing 23, the eighth stroke switch 32h is pressed down to stop the hydraulic station 15 from supplying hydraulic fluid to the third port B of the seventh hydraulic cylinder 181For oil supply, the hydraulic station 15 feeds the seventh port D of the fifth hydraulic cylinder 21 through an oil pipe1The oil is fed, and the hydraulic oil in the fifth hydraulic cylinder 21 passes through the eighth oil port D2Returning oil to the hydraulic station 15, inserting the crowbar 20 into the hole drilled in the refractory brick by the drill 19 under the action of the oil pressure of the fifth hydraulic cylinder 21, and when the insertion depth of the crowbar 20 reaches a preset value, pressing the third stroke switch 32c by the upper end of the crowbar 20, stopping the hydraulic station 15 from feeding oil to the seventh oil port D of the fifth hydraulic cylinder 211Oil supply, hydraulic station 15The oil is supplied to the rodless cavity of the third hydraulic cylinder 12c, the integration box 9 rotates around the cylindrical pin at the joint of the second hydraulic arm 6 and the integration box 9 under the action of the push-pull force of the third hydraulic cylinder 12c, so that the prying rod 20 prys the residual refractory bricks, and the refractory bricks with the surfaces sintered together fall off from the kiln body in a large area.
(10) The camera 10 takes pictures of the residual firebricks on the surface of the kiln body and transmits related image information to the processor 43, and the processor 43 processes the information and sends instructions to the controller 14; the controller 14 controls the oil inlet amount and the oil inlet direction of the hydraulic station 15 to the first hydraulic cylinder 12a and the second hydraulic cylinder 12b, the extension and contraction of the piston rod are realized, the rotation of the first hydraulic arm 5 and the second hydraulic arm 6 is realized, the integration box 9 is adjusted to a new working position, and the controller 14 enables the hydraulic station 15 to supply oil to the eighth oil port D of the fifth hydraulic cylinder 212Taking oil, the fifth hydraulic cylinder 21 passes through the seventh oil port D1Returning oil to the hydraulic station 15, making the crowbar 20 move back under the action of hydraulic oil, and when the return stroke of the crowbar 20 reaches a preset value, the upper end of the crowbar 20 presses down the fourth stroke switch 32D to stop the hydraulic station 15 from acting on the eighth oil port D of the fifth hydraulic cylinder 212Oil is supplied to stop the axial movement of the pry bar 20.
(11) Repeating the steps (5) - (6).
(12) When the seventh stroke switch 32g is pressed, the hydraulic station 15 supplies the first port a of the sixth hydraulic cylinder 181The oil is supplied, and the hydraulic oil in the sixth hydraulic cylinder 18 passes through the second oil port A2And returning oil, the piston rod 28b moves rightwards under the action of hydraulic oil, and the rack on the piston rod 28b drives the pinion 27 meshed with the piston rod to rotate, so that the rotary table 30 is driven to rotate 180 degrees anticlockwise, namely, the positions of the fourth hydraulic cylinder 16 and the fifth hydraulic cylinder 21 which are installed on the rotary table 30 are interchanged. When the piston rod 28b is moved rightward and the sixth stroke switch 32e is depressed, the hydraulic station 15 stops moving to the first port a of the sixth hydraulic cylinder 181The oil is supplied to the third port B of the seventh hydraulic cylinder 44 from the hydraulic station 15 through an oil pipe1Fourth port B of seventh hydraulic cylinder 44 for oil supply2And returning oil, the positioning pin 25 in the seventh hydraulic cylinder 44 is quickly inserted into the bushing 23 under the oil pressure of the hydraulic oil, and the positioning of the turntable 30 is realized.
(13) Repeating the steps (9) - (10).
(14) And (4) repeating the steps (3) to (13) until the robot breaks and tears all residual refractory bricks within 360 degrees of the stop position.
(15) And (4) repeating the steps (2) to (14) until the robot finishes all the demolition work on the residual refractory bricks of the rotary kiln.

Claims (2)

1. An electro-hydraulic hybrid drive double-head breaking-in robot is characterized by comprising a bearing reversing system, a breaking-in system and a control system; the bearing reversing system comprises a vehicle body (1), a cover plate (2), a retainer ring (3), a workbench (4), a first hydraulic arm (5), a second hydraulic arm (6), a first hydraulic cylinder (12a), a second hydraulic cylinder (12b), a third hydraulic cylinder (12c), an integration box (9), a slewing bearing (13), a reversing gear (39) and a reversing motor (40); the vehicle body (1) is fixedly connected with the cover plate (2) through a plurality of countersunk bolts, the reversing motor (40) is fixedly installed on the side wall of the cover plate (2) through bolts, an output shaft of the reversing motor (40) is in key connection with the reversing gear (39), and the reversing gear (39) is axially fixed through a step on the output shaft of the reversing motor (40) and a nut matched with a thread; the outer ring of the slewing bearing (13) is fixedly installed with the cover plate (2) through bolts, the inner ring of the slewing bearing (13) is fixedly connected with the workbench (4) through bolts, and the check ring (3) is installed on the side surface of the workbench (4) through a plurality of bolts; the workbench (4), the first hydraulic arm (5) and the second hydraulic arm (6) are connected in series, one end of the first hydraulic arm (5) is connected with the workbench (4) through a cylindrical pin, the other end of the first hydraulic arm (5) is connected with the second hydraulic arm (6) through a cylindrical pin, and the other end of the second hydraulic arm (6) is connected with the integration box (9) through a cylindrical pin; the first hydraulic cylinder (12a), the second hydraulic cylinder (12b) and the third hydraulic cylinder (12c) are single-piston-rod hydraulic cylinders, one end of the first hydraulic cylinder (12a) is mounted on the workbench (4) through a cylindrical pin, and the other end of the first hydraulic cylinder (12a) is mounted on the first hydraulic arm (5) through a cylindrical pin; one end of the second hydraulic cylinder (12b) passes through the circleThe pin is arranged on the first hydraulic arm (5), and the other end of the second hydraulic cylinder (12b) is arranged on the second hydraulic arm (6) through a cylindrical pin; one end of the third hydraulic cylinder (12c) is mounted on the second hydraulic arm (6) through a cylindrical pin, and the other end of the third hydraulic cylinder (12c) is connected with the integration box (9) through the cylindrical pin; the breaking and dismantling system comprises a connecting rod (7), an I-shaped frame (8), a fourth hydraulic cylinder (16), a first bearing cover (17), a sixth hydraulic cylinder (18), a drill bit (19), a pry bar (20), a fifth hydraulic cylinder (21), a pressing ring (22), a bushing (23), a spring (24), a positioning pin (25), a deep groove ball bearing (26), a pinion (27), a piston (28a), a piston rod (28b), a cylindrical roller bearing (29), a turntable (30), a feeding motor (31), a first travel switch (32a), a second travel switch (32b), a third travel switch (32c), a fourth travel switch (32d), a fifth travel switch (32e), a sixth travel switch (32f), a seventh travel switch (32g), an eighth travel switch (32h), a coupler (33), a second bearing cover (34), a main shaft (35), A first tapered roller bearing (36a), a second tapered roller bearing (36b), a fourth piston (37), a baffle plate (38), a seventh hydraulic cylinder (44), a first baffle plate (45a), a second baffle plate (45b), a first end cover (46a) and a second end cover (46 b); one end of the connecting rod (7) is connected with the second hydraulic arm (6) through a cylindrical pin, and the other end of the connecting rod (7) is connected with the I-shaped frame (8) and the third hydraulic cylinder (12c) in series through cylindrical pins; the integration box (9) is connected with the second hydraulic arm (6) through a cylindrical pin, and the integration box (9) is connected with the I-shaped frame (8) through a cylindrical pin; the sixth hydraulic cylinder (18) is of a separated structure, and the sixth hydraulic cylinder (18) is provided with a first oil port (A)1) And a second oil port (A)2) The piston (28a) is installed in the sixth hydraulic cylinder (18), the piston rod (28b) is connected with the piston (28a), a fifth travel switch (32e) and a sixth travel switch (32f) are installed between one side of the piston rod (28b) and the inner side of the integration box (9), the fifth travel switch (32e) is located at the left end of the piston rod (28b), the sixth travel switch (32f) is located at the right end of the piston rod (28b), a rack is arranged in the middle of the piston rod (28b), and a sealing ring is installed between the piston (28a) and the sixth hydraulic cylinder (18); what is needed isThe rotary table (30) is mounted in the integration box (9), a cylindrical roller bearing (29) and a deep groove ball bearing (26) are mounted between the rotary table (30) and the integration box (9), the rotary table (30) is fixed by the pressing ring (22) through bolts, the rollers (41) are mounted in V-shaped grooves formed in the rotary table (30) and the pressing ring (22), a gap is reserved between the rotary table (30) and the integration box (9), the extending end of the rotary table (30) is connected with the pinion (27) through a flat key, and the pinion (27) is axially fixed through a step on the extending end of the rotary table (30) and a nut matched with threads; the upper end of the positioning pin (25) penetrates through the spring (24) and then enters the integrated box (9) through a round hole in a seventh hydraulic cylinder (44), and the seventh hydraulic cylinder (44) is provided with a third oil port (B)1) And a fourth oil port (B)2) The upper end of the positioning pin (25) is provided with a seventh travel switch (32g) and an eighth travel switch (32h) between the cylinder body of the integration box (9), the seventh travel switch (32g) is arranged above the upper end of the positioning pin (25), the eighth travel switch (32h) is arranged below the upper end of the positioning pin (25), a sealing ring is arranged between the upper end of the positioning pin (25) and the round hole of the seventh hydraulic cylinder (44), the lower end of the positioning pin (25) is arranged in the seventh hydraulic cylinder (44), the sealing ring is arranged between the lower end of the positioning pin (25) and the integration box (9), the positioning pin (25) is in clearance fit with the bushing (23), the bushing (23) is arranged in the hole of the turntable (30), and the seventh hydraulic cylinder (44), the positioning pin (25), The spring (24), the bushing (23), the seventh travel switch (32g) and the eighth travel switch (32h) are symmetrically distributed around the center of the turntable (30); the fourth hydraulic cylinder (16) is installed on the rotary table (30) through bolts, the first end cover (46a) is installed on the fourth hydraulic cylinder (16) through bolts, a sealing gasket is installed between the first end cover (46a) and the fourth hydraulic cylinder (16), and a fifth oil port (C) is formed in the fourth hydraulic cylinder (16)1) And a sixth oil port (C)2) A fourth piston (37) is installed in the fourth hydraulic cylinder (16), a sealing ring is installed between the fourth piston (37) and the fourth hydraulic cylinder (16), the feeding motor (31) is installed on the baffle (38), and the first stroke is openedThe switch (32a) and the second travel switch (32b) are installed between the edge of the baffle (38) and the inner side of the fourth piston (37), the first travel switch (32a) is located below the baffle (38), the second travel switch (32b) is located above the baffle (38), the baffle (38) is fixedly installed on the fourth piston (37) through bolts, the rotating shaft of the feeding motor (31) is connected with the main shaft (35) through the coupler (33), the first tapered roller bearing (36a) is installed between the upper end of the main shaft (35) and the fourth piston (37), the second tapered roller bearing (36b) is installed between the lower end of the main shaft (35) and the fourth piston (37), and the first tapered roller bearing (36a) is fixed with the first bearing cover (17) through the shaft shoulder of the main shaft (35), the second tapered roller bearing (36b) is fixed with the second bearing cover (34) through a shaft shoulder of the main shaft (35), the first bearing cover (17) and the second bearing cover (34) are respectively fixed on the end face of a fourth piston (37) through bolts, and the main shaft (35) is connected with the drill bit (19) through a Morse taper shank; the fifth hydraulic cylinder (21) is fixed on the rotary table (30) through bolts, the second end cover (46b) is installed on the fifth hydraulic cylinder (21) through bolts, a sealing gasket is installed between the first end cover (46b) and the fifth hydraulic cylinder (21), and the fifth hydraulic cylinder (21) is provided with a seventh oil port (D)1) And an eighth oil port (D)2) The prying bar (20) is arranged in the fifth hydraulic cylinder (21), the first stop block (45a) and the second stop block (45b) are respectively arranged at two ends of the tilting bar (20), the third travel switch (32c) and the fourth travel switch (32d) are installed between one side of the upper end of the pry bar (20) and the fifth hydraulic cylinder (21), the third stroke switch (32c) is located below the upper end of the lever (20), the fourth travel switch (32d) is located above the upper end of the lever (20), a sealing ring is arranged between the pry bar (20) and the fifth hydraulic cylinder (21), the axis of the pry bar (20) in the fifth hydraulic cylinder (21) and the axis of the drill bit (19) in the fourth hydraulic cylinder (16) are symmetrical about the center of the turntable (30); the control system comprises a camera (10), a searchlight (11), a controller (14), a hydraulic station (15) and a multifunctional manipulatorA controller (42) and a processor (43), wherein the camera (10) is installed on the workbench (4), the searchlight (11) is installed on the vehicle body (1), the controller (14) and the processor (43) are installed inside the vehicle body (1), and the hydraulic station (15) is installed inside the vehicle body (1); oil inlet cavities and oil return cavities of the first hydraulic cylinder (12a), the second hydraulic cylinder (12b), the third hydraulic cylinder (12c), the fourth hydraulic cylinder (16), the fifth hydraulic cylinder (21), the sixth hydraulic cylinder (18) and the seventh hydraulic cylinder (44) are independently connected with the hydraulic station (15) through oil pipes, and the hydraulic station (15) controls the first hydraulic cylinder (12a), the second hydraulic cylinder (12b), the third hydraulic cylinder (12c), the fourth hydraulic cylinder (16), the fifth hydraulic cylinder (21), the sixth hydraulic cylinder (18) and the seventh hydraulic cylinder (44) by controlling the oil pressure of each oil pipe; the hydraulic station (15), the camera (10) and the searchlight (11) are connected with the controller (14) through leads, the camera (10) shoots residual refractory bricks on the surface of the kiln body and transmits the shot residual refractory bricks to the processor (43), the processor (43) processes image information of broken refractory brick dismantling of the camera (10), determines broken dismantling work action information of the next step and transmits the broken dismantling work action information to the controller (14), the controller (14) sends a next step action instruction, and the multifunctional controller (42) is in wireless connection with the controller (14).
2. The breaking method of the electrohydraulic hybrid drive double-head breaking robot according to claim 1, which is characterized by comprising the following specific steps:
(1) the double-head breaking-in robot enters a kiln body, the processor (43) processes image information of the camera (10) and transmits the processed image information to the multifunctional controller (42) through the controller (14), and the multifunctional controller (42) controls the multifunctional controller (42) to send an automatic operation mode signal after confirming basic conditions of the robot;
(2) the controller (14) receives the instruction of the multifunctional controller (42) to automatically control the vehicle body (1) to drive the wheels to move to the appointed working position, and after the vehicle body (1) reaches the appointed working position, the vehicle body (14) receives the instruction sent by the controller (14) to lock the wheels;
(3) the reversing motor (40) is electrified to drive the slewing bearing (13) meshed with the reversing motor to rotate after receiving the instruction of the controller (14), the workbench (4) arranged on the slewing bearing (13) is driven to rotate, and the reversing motor (40) is powered off and self-locked after receiving the instruction of the controller (14) after the workbench (4) rotates to a working position;
(4) the camera (10) is used for shooting residual refractory bricks on the surface of the kiln body and transmitting and supplying relevant image information to the processor (43), the processor (43) is used for processing the relevant image information and then sending an instruction to the controller (14), the controller (14) is used for controlling the hydraulic station (15), oil in the hydraulic station (15) respectively enters rodless cavities of the first hydraulic cylinder (12a), the second hydraulic cylinder (12b) and the third hydraulic cylinder (12c) through oil pipes, the oil in rod cavities of the first hydraulic cylinder (12a), the second hydraulic cylinder (12b) and the third hydraulic cylinder (12c) returns to the hydraulic station (15) through the oil pipes, the expansion and contraction of a piston rod in the first hydraulic cylinder (12a) controls the rotation of the first hydraulic arm (5), and the expansion and contraction of a piston rod in the second hydraulic cylinder (12b) controls the rotation of the second hydraulic arm (6), the telescopic structure of a piston rod in the third hydraulic cylinder (12c) controls the integrated box (9) to rotate around the second hydraulic arm (6), and after the integrated box (9) is adjusted to a working position, a hydraulic lock in the hydraulic station (15) locks a hydraulic circuit to lock the first hydraulic arm (5), the second hydraulic arm (6) and the integrated box (9); simultaneously, the controller (14) sends a further action command to the feeding motor (31);
(5) the feeding motor (31) is electrified to rotate, the feeding motor (31) drives the drill bit (19) connected with the main shaft (35) to rotate, and the hydraulic station (15) receives hydraulic oil after an instruction sent by the controller (14) and flows to a fifth oil port (C) of the fourth hydraulic cylinder (16) through an oil pipe1) Oil is supplied, and the hydraulic oil in the fourth hydraulic cylinder (16) passes through a sixth oil port (C)2) Returning oil to the hydraulic station (15), and driving the rotating drill bit (19) to drill residual refractory bricks by the fourth piston (37) under the push of hydraulic oil; the axial feed of the fourth piston (37) is up toWhen the set depth is reached, the first travel switch (32a) is pressed down, and the hydraulic oil of the hydraulic station (15) flows to a sixth oil port (C) of the fourth hydraulic cylinder (16) through an oil pipe2) An oil inlet, a fifth oil port (C) of the fourth hydraulic cylinder (16)1) Returning oil to the hydraulic station (15), driving the drill bit (19) to withdraw from a drilled hole by the fourth piston (37) under the action of hydraulic oil, and when the withdrawal amount of the drill bit (19) reaches a preset value, pressing the second travel switch (32b), stopping the drill bit (19) and not withdrawing any more, and stopping the rotation of the feeding motor (31) after the power is cut off;
(6) the hydraulic station (15) is configured to supply hydraulic fluid to a fourth port (B) of the seventh hydraulic cylinder (44) when the second travel switch (32B) is pressed2) Oil is supplied, and the hydraulic oil in the seventh hydraulic cylinder (44) passes through a third oil port (B)1) Returning oil to the hydraulic station (15), wherein the positioning pin (25) exits the bushing (23) under the action of hydraulic oil, and the spring (24) is compressed under the action of the hydraulic oil; after the upper end of the positioning pin (25) presses the seventh travel switch (32g), the hydraulic station (15) stops supplying oil to the fourth oil port (B) of the seventh hydraulic cylinder (44)2) Oil supply;
(7) when the seventh travel switch (32g) is pressed, the hydraulic station (15) supplies hydraulic fluid to a second fluid port (A) of the sixth hydraulic cylinder (18)2) Oil is supplied, and the hydraulic oil in the sixth hydraulic cylinder (18) passes through a first oil port (A)1) The piston (28a) moves to the left end under the action of hydraulic oil, the piston rod (28b) moves to the left, a rack on the piston rod (28b) drives a pinion (27) meshed with the piston rod to rotate, so that the rotary table (30) is driven to rotate clockwise by 180 degrees, and the positions of the fifth hydraulic cylinder (21) and the fourth hydraulic cylinder (16) which are installed on the rotary table (30) are exchanged;
(8) after the piston rod (28b) moves leftwards and presses down the sixth travel switch (32f), the hydraulic station (15) stops moving to the second oil port (A) of the sixth hydraulic cylinder (18)2) The hydraulic station (15) supplies oil to a third oil port (B) of the seventh hydraulic cylinder (44) through an oil pipe1) Oil supply, a fourth oil port (B) of the seventh hydraulic cylinder (44)2) Return oil, the oil in the seventh hydraulic cylinder (44)The positioning pin (25) is rapidly inserted into the bushing (23) under the action of hydraulic oil, so that the turntable (30) is positioned;
(9) after the positioning pin (25) is inserted into the bushing (23), the upper end of the positioning pin (25) presses down the eighth stroke switch (32h), so that the hydraulic station (15) stops supplying oil to the third oil port (B) of the seventh hydraulic cylinder (18)1) The hydraulic station (15) supplies oil to a seventh oil port (D) of the fifth hydraulic cylinder (21) through an oil pipe1) The oil is fed, and the hydraulic oil in the fifth hydraulic cylinder (21) passes through an eighth oil port (D)2) Returning oil to the hydraulic station (15), inserting the pry bar (20) into a hole drilled in a refractory brick by the drill bit (19) under the action of the oil pressure of the fifth hydraulic cylinder (21), pressing down the third travel switch (32c) by the upper end of the pry bar (20) when the insertion depth of the pry bar (20) reaches a preset value, and stopping the hydraulic station (15) from feeding oil to a seventh oil port (D) of the fifth hydraulic cylinder (21)1) Oil is fed, the hydraulic station (15) supplies oil to a rodless cavity of the third hydraulic cylinder (12c), the integration box (9) rotates around a cylindrical pin at the joint of the second hydraulic arm (6) and the integration box (9) under the action of the push-pull force of the third hydraulic cylinder (12c), and the prying rod (20) prys the residual refractory bricks to enable the large residual refractory bricks to fall off from the kiln body;
(10) the camera (10) is used for shooting residual refractory bricks on the surface of the kiln body and transmitting related image information to the processor (43), and the processor (43) processes messages and sends instructions to the controller (14); the controller (14) controls the hydraulic station (15) to the oil inlet amount and the oil inlet direction of the first hydraulic cylinder (12a) and the second hydraulic cylinder (12b), the extension and contraction of a piston rod are achieved, the first hydraulic arm (5) and the second hydraulic arm (6) rotate, the integration box (9) is adjusted to a new working position, and the controller (14) controls the hydraulic station (15) to an eighth oil port (D) of the fifth hydraulic cylinder (21)2) The fifth hydraulic cylinder (21) passes through a seventh oil port (D)1) Returning oil to the hydraulic station (15), wherein the pry bar (20) moves back under the action of hydraulic oil, and when the return stroke of the pry bar (20) reaches a preset value, the upper end of the pry bar (20) presses down the fourth leverA travel switch (32D) stops the hydraulic station (15) from operating on the eighth port (D) of the fifth hydraulic cylinder (21)2) Oil is supplied to stop the pry bar (20) from moving axially;
(11) repeating the steps (5) - (6);
(12) when the seventh travel switch (32g) is pressed, the hydraulic station (15) opens to the first port (A) of the sixth hydraulic cylinder (18)1) Oil is supplied, and the hydraulic oil in the sixth hydraulic cylinder (18) passes through a second oil port (A)2) The piston rod (28b) moves rightwards under the action of hydraulic oil, a rack on the piston rod (28b) drives a pinion (27) meshed with the piston rod to rotate, so that the rotary table (30) is driven to rotate 180 degrees anticlockwise, and the positions of the fourth hydraulic cylinder (16) and the fifth hydraulic cylinder (21) which are installed on the rotary table (30) are exchanged; after the piston rod (28b) is moved rightwards and the sixth travel switch (32e) is pressed down, the hydraulic station (15) stops moving to the first oil port (A) of the sixth hydraulic cylinder (18)1) The hydraulic station (15) supplies oil to a third oil port (B) of the seventh hydraulic cylinder (44) through an oil pipe1) Oil supply, a fourth oil port (B) of the seventh hydraulic cylinder (44)2) Returning oil, wherein the positioning pin (25) in the seventh hydraulic cylinder (44) is rapidly inserted into the bushing (23) under the action of the oil pressure of hydraulic oil to realize the positioning of the turntable (30);
(13) repeating the steps (9) - (10);
(14) repeating the steps (3) - (13) until the robot finishes demolishing all residual refractory bricks within 360-degree range on the stop position;
(15) and (4) repeating the steps (2) to (14) until the robot finishes all the demolition work on the residual refractory bricks of the rotary kiln.
CN202010540708.1A 2020-06-15 2020-06-15 Electro-hydraulic hybrid drive double-head breaking and dismantling robot and breaking and dismantling method Active CN111645088B (en)

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CN112902670A (en) * 2021-02-03 2021-06-04 安徽工业大学 Rotary kiln lining breaking-in robot and breaking-in method
CN112964078A (en) * 2021-02-07 2021-06-15 安徽工业大学 Breaking-in robot for concretion on surface of rotary kiln lining and using method
CN113524163A (en) * 2021-07-30 2021-10-22 太原科技大学 Electro-hydraulic hybrid drive high-altitude dismounting industrial robot
CN114593351A (en) * 2021-11-26 2022-06-07 杭州速博雷尔传动机械有限公司 On-line oiling device

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CN109780871A (en) * 2018-12-18 2019-05-21 安徽工业大学 A kind of the forcible entry robot and forcible entry method of rotary kiln remnants refractory brick

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